3.8 RegisterBank Class

Overview

RegisterBank handles R / PR / SR / MR / MH / MI register read/write operations. After Arm is connected, access the instance through arm.registerBank ; no separate initialization is required.

3.8.1 R Register (Numeric)

3.8.1.1 Read R Register

cpp

ReadR(int32_t index) -> std::pair<Float64, STATUS_CODE>

Item	Description
Description	Reads the R register value at the specified index
Request Parameters	`index` : int32_t register index
Return Value	Float64: register value STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.1.2 Write R Register

cpp

WriteR(int32_t index, Float64 value) -> STATUS_CODE

Item	Description
Description	Writes the R register value at the specified index
Request Parameters	`index` : int32_t register index `value` : Float64 value to write
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.1.3 Delete R Register

cpp

DeleteR(int32_t index) -> STATUS_CODE

Item	Description
Description	Deletes the R register at the specified index
Request Parameters	`index` : int32_t register index
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.2 PR Register (Pose)

3.8.2.1 Read PR Register

cpp

ReadPR(int32_t index) -> std::pair<PoseRegister, STATUS_CODE>

Item	Description
Description	Reads the PR register value at the specified index
Request Parameters	`index` : int32_t register index
Return Value	PoseRegister: pose register value STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.2.2 Write PR Register

cpp

WritePR(const PoseRegister& reg) -> STATUS_CODE

Item	Description
Description	Writes a PR register value
Request Parameters	`reg` : PoseRegister object containing the index and pose data
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.2.3 Delete PR Register

cpp

DeletePR(int32_t index) -> STATUS_CODE

Item	Description
Description	Deletes the PR register at the specified index
Request Parameters	`index` : int32_t register index
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.3 SR Register (String)

3.8.3.1 Read SR Register

cpp

ReadSR(int32_t index) -> std::pair<std::string, STATUS_CODE>

Item	Description
Description	Reads the SR register value at the specified index
Request Parameters	`index` : int32_t register index
Return Value	std::string: register value STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.3.2 Write SR Register

cpp

WriteSR(int32_t index, const std::string& value) -> STATUS_CODE

Item	Description
Description	Writes the SR register value at the specified index
Request Parameters	`index` : int32_t register index `value` : std::string value to write
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.3.3 Delete SR Register

cpp

DeleteSR(int32_t index) -> STATUS_CODE

Item	Description
Description	Deletes the SR register at the specified index
Request Parameters	`index` : int32_t register index
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.4 MR Register (Integer)

3.8.4.1 Read MR Register

cpp

ReadMR(int32_t index) -> std::pair<int32_t, STATUS_CODE>

Item	Description
Description	Reads the MR register value at the specified index
Request Parameters	`index` : int32_t register index
Return Value	int32_t: register value STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.4.2 Write MR Register

cpp

WriteMR(int32_t index, int32_t value) -> STATUS_CODE

Item	Description
Description	Writes the MR register value at the specified index
Request Parameters	`index` : int32_t register index `value` : int32_t value to write
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.4.3 Delete MR Register

cpp

DeleteMR(int32_t index) -> STATUS_CODE

Item	Description
Description	Deletes the MR register at the specified index
Request Parameters	`index` : int32_t register index
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.5 MH / MI Registers (Integer)

3.8.5.1 Read MH Register

cpp

ReadMH(int32_t index) -> std::pair<int32_t, STATUS_CODE>

Item	Description
Description	Reads the MH register value at the specified index
Request Parameters	`index` : int32_t register index
Return Value	int32_t: register value STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.5.2 Write MH Register

cpp

WriteMH(int32_t index, int32_t value) -> STATUS_CODE

Item	Description
Description	Writes the MH register value at the specified index
Request Parameters	`index` : int32_t register index `value` : int32_t value to write
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.5.3 Read MI Register

cpp

ReadMI(int32_t index) -> std::pair<int32_t, STATUS_CODE>

Item	Description
Description	Reads the MI register value at the specified index
Request Parameters	`index` : int32_t register index
Return Value	int32_t: register value STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.8.5.4 Write MI Register

cpp

WriteMI(int32_t index, int32_t value) -> STATUS_CODE

Item	Description
Description	Writes the MI register value at the specified index
Request Parameters	`index` : int32_t register index `value` : int32_t value to write
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Register Type Reference

Register Type	Data Type	Description
R	Float64	Numeric register, stores floating-point values
PR	PoseRegister	Pose register, stores robot poses
SR	std::string	String register, stores text
MR	int32_t	Integer register, stores integers
MH	int32_t	Integer register, stores integers
MI	int32_t	Integer register, stores integers

Minimal Call Example

cpp

#include <iostream>      // Standard output stream for printing register read results
#include "arm_api.h"    // Arm entry point; after connection, register APIs are accessed through arm.registerBank
#include "status_code.h" // STATUS_CODE for checking SDK call results

int main()
{
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("192.168.110.2", "");
    if (connectRet != STATUS_CODE::OK) {
        return 1;
    }

    auto [rValue, rRet] = arm.registerBank.ReadR(0);
    if (rRet == STATUS_CODE::OK) {
        std::cout << "R[0]=" << rValue << "\n";
    }

    auto [srValue, srRet] = arm.registerBank.ReadSR(0);
    if (srRet == STATUS_CODE::OK) {
        std::cout << "SR[0]=" << srValue << "\n";
    }

    auto [mrValue, mrRet] = arm.registerBank.ReadMR(0);
    if (mrRet == STATUS_CODE::OK) {
        std::cout << "MR[0]=" << mrValue << "\n";
    }

    // PoseRegister pr;
    // pr.id = 1;
    // pr.poseRegisterData.pt = PoseType::JOINT;
    // pr.poseRegisterData.joint = {0, 0, 0, 0, 0, 0, 0, 0, 0};
    // STATUS_CODE prRet = arm.registerBank.WritePR(pr);
    return 0;
}

Scenario Examples

The snippets below cover register reads, register writes, register deletion, and Modbus-mapped registers. They assume the arm object from the minimal example is already connected. Write and delete operations change controller data; run them only after confirming the target.

Read Common Registers

cpp

auto [rValue, rRet] = arm.registerBank.ReadR(0);
auto [prValue, prRet] = arm.registerBank.ReadPR(0);
auto [srValue, srRet] = arm.registerBank.ReadSR(0);
auto [mrValue, mrRet] = arm.registerBank.ReadMR(0);
if (rRet == STATUS_CODE::OK || prRet == STATUS_CODE::OK || srRet == STATUS_CODE::OK || mrRet == STATUS_CODE::OK) {
    std::cout << "R=" << rValue << " SR=" << srValue << " MR=" << mrValue << "\n";
}

Write Common Registers

cpp

PoseRegister prToWrite;
prToWrite.id = 1;
// STATUS_CODE writeRRet = arm.registerBank.WriteR(0, Float64{1.0});
// STATUS_CODE writePRRet = arm.registerBank.WritePR(prToWrite);
// STATUS_CODE writeSRRet = arm.registerBank.WriteSR(0, "demo");
// STATUS_CODE writeMRRet = arm.registerBank.WriteMR(0, 10);

Delete Registers

cpp

// STATUS_CODE deleteRRet = arm.registerBank.DeleteR(0);
// STATUS_CODE deletePRRet = arm.registerBank.DeletePR(1);
// STATUS_CODE deleteSRRet = arm.registerBank.DeleteSR(0);
// STATUS_CODE deleteMRRet = arm.registerBank.DeleteMR(0);

Modbus-Mapped Registers

cpp

auto [mhValue, mhRet] = arm.registerBank.ReadMH(0);
auto [miValue, miRet] = arm.registerBank.ReadMI(0);
if (mhRet == STATUS_CODE::OK || miRet == STATUS_CODE::OK) {
    std::cout << "MH=" << mhValue << " MI=" << miValue << "\n";
}
// STATUS_CODE writeMHRet = arm.registerBank.WriteMH(0, 10);
// STATUS_CODE writeMIRet = arm.registerBank.WriteMI(0, 10);

Example code:

cpp17/registers_basic/src/main.cpp

cpp

#include "query_registers/run.h"
#include "write_registers/run.h"

int main(void)
{
    // [ZH] 默认只调用一个门面方法；如需体验其他接口，请把下一行替换成下面任意一行。
    // [EN] The main function calls only one facade by default. Replace the next line with any line below to try other APIs.
    return RunRegistersBasicQueryRegisters();
    // return RunRegistersBasicWriteRegisters();
}

c99/registers_basic/src/main.cpp

cpp

#include <stdio.h>
#include <string.h>

extern "C" {
#include "c_arm_api.h"
}

int main(void)
{
    // [ZH] 本示例直接在源码中写死连接地址，不解析命令行参数。
    // [EN] This example hard-codes the connection addresses in the source code and does not parse command-line arguments.
    // [ZH] 创建并连接 SDK 句柄。
    // [EN] Create the SDK handle and connect to the robot.
    ArmHandle* handle = Arm_Create();
    if (handle == NULL) {
        printf("[c99_registers] 创建句柄失败 / Failed to create the handle\n");
        return 1;
    }
    int ret = Arm_Connect(handle, "10.27.1.2", "10.27.1.102");
    if (ret != 0) {
        printf("[c99_registers] 连接失败 / Connect failed, 状态码 / Status code: %d\n", ret);
        Arm_Destroy(handle);
        return 1;
    }
    printf("[c99_registers] 机器人连接成功 / Robot connected successfully\n");

    // [ZH] 顺序读取全部寄存器类型。
    // [EN] Read all register types in sequence.
    double rValue = 0.0;
    ArmPoseRegister prValue;
    char srValue[256] = {0};
    int mrValue = 0;
    int mhValue = 0;
    int miValue = 0;
    memset(&prValue, 0, sizeof(prValue));
    ret = Arm_Registers_ReadR(handle, 0, &rValue);
    printf("[c99_registers] ReadR 状态码 / ReadR status code: %d, R[0]=%.6f\n", ret, rValue);
    ret = Arm_Registers_ReadPR(handle, 0, &prValue);
    printf("[c99_registers] ReadPR 状态码 / ReadPR status code: %d, PR[0].id=%d, name=%s\n", ret, prValue.id, prValue.name);
    ret = Arm_Registers_ReadSR(handle, 0, srValue, sizeof(srValue));
    printf("[c99_registers] ReadSR 状态码 / ReadSR status code: %d, SR[0]=%s\n", ret, srValue);
    ret = Arm_Registers_ReadMR(handle, 0, &mrValue);
    printf("[c99_registers] ReadMR 状态码 / ReadMR status code: %d, MR[0]=%d\n", ret, mrValue);
    ret = Arm_Registers_ReadMH(handle, 0, &mhValue);
    printf("[c99_registers] ReadMH 状态码 / ReadMH status code: %d, MH[0]=%d\n", ret, mhValue);
    ret = Arm_Registers_ReadMI(handle, 0, &miValue);
    printf("[c99_registers] ReadMI 状态码 / ReadMI status code: %d, MI[0]=%d\n", ret, miValue);

    // [ZH] 顺序执行全部写接口与删除接口。
    // [EN] Execute all write APIs and delete APIs in sequence.
    ret = Arm_Registers_WriteR(handle, 0, rValue);
    printf("[c99_registers] WriteR 状态码 / WriteR status code: %d\n", ret);
    ret = Arm_Registers_DeleteR(handle, 0);
    printf("[c99_registers] DeleteR 状态码 / DeleteR status code: %d\n", ret);
    ret = Arm_Registers_WritePR(handle, &prValue);
    printf("[c99_registers] WritePR 状态码 / WritePR status code: %d\n", ret);
    ret = Arm_Registers_DeletePR(handle, prValue.id);
    printf("[c99_registers] DeletePR 状态码 / DeletePR status code: %d\n", ret);
    ret = Arm_Registers_WriteSR(handle, 0, srValue);
    printf("[c99_registers] WriteSR 状态码 / WriteSR status code: %d\n", ret);
    ret = Arm_Registers_DeleteSR(handle, 0);
    printf("[c99_registers] DeleteSR 状态码 / DeleteSR status code: %d\n", ret);
    ret = Arm_Registers_WriteMR(handle, 0, mrValue);
    printf("[c99_registers] WriteMR 状态码 / WriteMR status code: %d\n", ret);
    ret = Arm_Registers_DeleteMR(handle, 0);
    printf("[c99_registers] DeleteMR 状态码 / DeleteMR status code: %d\n", ret);
    ret = Arm_Registers_WriteMH(handle, 0, mhValue);
    printf("[c99_registers] WriteMH 状态码 / WriteMH status code: %d\n", ret);
    ret = Arm_Registers_WriteMI(handle, 0, miValue);
    printf("[c99_registers] WriteMI 状态码 / WriteMI status code: %d\n", ret);

    // [ZH] 断开连接并销毁句柄。
    // [EN] Disconnect and destroy the handle.
    Arm_Disconnect(handle);
    Arm_Destroy(handle);
    printf("[c99_registers] 示例结束 / Example finished\n");
    return 0;
}

1 Overview and Setup

2 Data Structures

3 Methods

4 C99 API

6 Other Language Integration

3.8 RegisterBank Class

Overview

3.8.1 R Register (Numeric)

3.8.1.1 Read R Register

3.8.1.2 Write R Register

3.8.1.3 Delete R Register

3.8.2 PR Register (Pose)

3.8.2.1 Read PR Register

3.8.2.2 Write PR Register

3.8.2.3 Delete PR Register

3.8.3 SR Register (String)

3.8.3.1 Read SR Register

3.8.3.2 Write SR Register

3.8.3.3 Delete SR Register

3.8.4 MR Register (Integer)

3.8.4.1 Read MR Register

3.8.4.2 Write MR Register

3.8.4.3 Delete MR Register

3.8.5 MH / MI Registers (Integer)

3.8.5.1 Read MH Register

3.8.5.2 Write MH Register

3.8.5.3 Read MI Register

3.8.5.4 Write MI Register

Register Type Reference

Minimal Call Example

Scenario Examples

Read Common Registers

Write Common Registers

Delete Registers

Modbus-Mapped Registers

3.8 RegisterBank Class ​

Overview ​

3.8.1 R Register (Numeric) ​

3.8.1.1 Read R Register ​

3.8.1.2 Write R Register ​

3.8.1.3 Delete R Register ​

3.8.2 PR Register (Pose) ​

3.8.2.1 Read PR Register ​

3.8.2.2 Write PR Register ​

3.8.2.3 Delete PR Register ​

3.8.3 SR Register (String) ​

3.8.3.1 Read SR Register ​

3.8.3.2 Write SR Register ​

3.8.3.3 Delete SR Register ​

3.8.4 MR Register (Integer) ​

3.8.4.1 Read MR Register ​

3.8.4.2 Write MR Register ​

3.8.4.3 Delete MR Register ​

3.8.5 MH / MI Registers (Integer) ​

3.8.5.1 Read MH Register ​

3.8.5.2 Write MH Register ​

3.8.5.3 Read MI Register ​

3.8.5.4 Write MI Register ​

Register Type Reference ​

Minimal Call Example ​

Scenario Examples ​

Read Common Registers ​

Write Common Registers ​

Delete Registers ​

Modbus-Mapped Registers ​

3.8 RegisterBank Class

Overview

3.8.1 R Register (Numeric)

3.8.1.1 Read R Register

3.8.1.2 Write R Register

3.8.1.3 Delete R Register

3.8.2 PR Register (Pose)

3.8.2.1 Read PR Register

3.8.2.2 Write PR Register

3.8.2.3 Delete PR Register

3.8.3 SR Register (String)

3.8.3.1 Read SR Register

3.8.3.2 Write SR Register

3.8.3.3 Delete SR Register

3.8.4 MR Register (Integer)

3.8.4.1 Read MR Register

3.8.4.2 Write MR Register

3.8.4.3 Delete MR Register

3.8.5 MH / MI Registers (Integer)

3.8.5.1 Read MH Register

3.8.5.2 Write MH Register

3.8.5.3 Read MI Register

3.8.5.4 Write MI Register

Register Type Reference

Minimal Call Example

Scenario Examples

Read Common Registers

Write Common Registers

Delete Registers

Modbus-Mapped Registers